diff options
| -rw-r--r-- | klippy/mcu.py | 19 | ||||
| -rw-r--r-- | klippy/msgproto.py | 7 | ||||
| -rw-r--r-- | klippy/stepper.py | 12 |
3 files changed, 24 insertions, 14 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index fbd0b5a4..76c70506 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -80,13 +80,17 @@ class CommandQueryWrapper: class CommandWrapper: def __init__(self, serial, msgformat, cmd_queue=None): self._serial = serial - self._cmd = serial.get_msgparser().lookup_command(msgformat) + msgparser = serial.get_msgparser() + self._cmd = msgparser.lookup_command(msgformat) if cmd_queue is None: cmd_queue = serial.get_default_command_queue() self._cmd_queue = cmd_queue + self._msgtag = msgparser.lookup_msgtag(msgformat) & 0xffffffff def send(self, data=(), minclock=0, reqclock=0): cmd = self._cmd.encode(data) self._serial.raw_send(cmd, minclock, reqclock, self._cmd_queue) + def get_command_tag(self): + return self._msgtag ###################################################################### @@ -148,11 +152,13 @@ class MCU_trsync: self._stepper_stop_cmd = mcu.lookup_command( "stepper_stop_on_trigger oid=%c trsync_oid=%c", cq=self._cmd_queue) # Create trdispatch_mcu object - set_timeout_tag = mcu.lookup_command_tag( - "trsync_set_timeout oid=%c clock=%u") - trigger_tag = mcu.lookup_command_tag("trsync_trigger oid=%c reason=%c") - state_tag = mcu.lookup_command_tag( + set_timeout_tag = mcu.lookup_command( + "trsync_set_timeout oid=%c clock=%u").get_command_tag() + trigger_cmd = mcu.lookup_command("trsync_trigger oid=%c reason=%c") + trigger_tag = trigger_cmd.get_command_tag() + state_cmd = mcu.lookup_command( "trsync_state oid=%c can_trigger=%c trigger_reason=%c clock=%u") + state_tag = state_cmd.get_command_tag() ffi_main, ffi_lib = chelper.get_ffi() self._trdispatch_mcu = ffi_main.gc(ffi_lib.trdispatch_mcu_alloc( self._trdispatch, mcu._serial.get_serialqueue(), # XXX @@ -874,9 +880,6 @@ class MCU: return self.lookup_command(msgformat) except self._serial.get_msgparser().error as e: return None - def lookup_command_tag(self, msgformat): - all_msgs = self._serial.get_msgparser().get_messages() - return {fmt: msgtag for msgtag, msgtype, fmt in all_msgs}[msgformat] def get_enumerations(self): return self._serial.get_msgparser().get_enumerations() def get_constants(self): diff --git a/klippy/msgproto.py b/klippy/msgproto.py index 177dbf7b..f8a12530 100644 --- a/klippy/msgproto.py +++ b/klippy/msgproto.py @@ -234,6 +234,7 @@ class MessageParser: self.messages = [] self.messages_by_id = {} self.messages_by_name = {} + self.msgtag_by_format = {} self.config = {} self.version = self.build_versions = "" self.raw_identify_data = "" @@ -316,6 +317,11 @@ class MessageParser: self._error("Command format mismatch: %s vs %s", msgformat, mp.msgformat) return mp + def lookup_msgtag(self, msgformat): + msgtag = self.msgtag_by_format.get(msgformat) + if msgtag is None: + self._error("Unknown command: %s", msgformat) + return msgtag def create_command(self, msg): parts = msg.strip().split() if not parts: @@ -376,6 +382,7 @@ class MessageParser: self.messages.append((msgtag, msgtype, msgformat)) if msgtag < -32 or msgtag > 95: self._error("Multi-byte msgtag not supported") + self.msgtag_by_format[msgformat] = msgtag msgid = msgtag & 0x7f if msgtype == 'output': self.messages_by_id[msgid] = OutputFormat(msgid, msgformat) diff --git a/klippy/stepper.py b/klippy/stepper.py index ad7d1282..0f8c0275 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -89,12 +89,12 @@ class MCU_stepper: invert_step, step_pulse_ticks)) self._mcu.add_config_cmd("reset_step_clock oid=%d clock=0" % (self._oid,), on_restart=True) - step_cmd_tag = self._mcu.lookup_command_tag( - "queue_step oid=%c interval=%u count=%hu add=%hi") - dir_cmd_tag = self._mcu.lookup_command_tag( - "set_next_step_dir oid=%c dir=%c") - self._reset_cmd_tag = self._mcu.lookup_command_tag( - "reset_step_clock oid=%c clock=%u") + step_cmd_tag = self._mcu.lookup_command( + "queue_step oid=%c interval=%u count=%hu add=%hi").get_command_tag() + dir_cmd_tag = self._mcu.lookup_command( + "set_next_step_dir oid=%c dir=%c").get_command_tag() + self._reset_cmd_tag = self._mcu.lookup_command( + "reset_step_clock oid=%c clock=%u").get_command_tag() self._get_position_cmd = self._mcu.lookup_query_command( "stepper_get_position oid=%c", "stepper_position oid=%c pos=%i", oid=self._oid) |